Build a relational database including 3D maps and image
data of typical indoor environment, as shown in Fig. 5,
using a well-equipped robot.
• Each poorly equipped robot sends several requests to the
CCH by providing with its pose. Then, the CCH accesses to
the database, and matches the target data by sending SQL
requests using either the ID or other properties such as the
time-stamp and the type of data in the relational database.
• CCH manages all requests with predefined scheduling
strategy as introduced in Section IV.
• ToR, RoR, CPU load, and bandwidth usage are logged on
each robot and CCH to evaluate the experimental results